Baumer GIM700DR User manual

27.04.21· 174.02.082/1
Subject to modification in technic and design.
www.baumer.com Errors and omissions excepted.
Manual
Dynamic inclination sensors GIM700DR
with CANopen®interface
Firmware version 1.14.2 and higher

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Contents Page
1Introduction.................................................................................................................................................3
1.1 Scope of delivery .......................................................................................................................................3
1.2 Product assignment...................................................................................................................................3
2Safety and operating instructions ............................................................................................................4
3CAN-bus and CANopen communication..................................................................................................5
3.1 CAN-bus characteristics ............................................................................................................................5
3.2 CANopen ...................................................................................................................................................6
3.3 CANopen communication..........................................................................................................................6
3.3.1 Communication profile............................................................................................................................6
3.3.2 CANopen message structure .................................................................................................................6
3.3.3 CANopen service data communication (SDO) .......................................................................................8
3.3.4 Process data communication .................................................................................................................9
3.3.5 Error diagnostics / emergency service .................................................................................................10
3.3.6 Network management services ............................................................................................................11
4Object dictionary ......................................................................................................................................18
4.1 Communication parameters (CiA DS-301, CiA DS-302 Part 2) ..............................................................18
4.1.1 Save parameters (1010h).....................................................................................................................21
4.1.2 Restore default parameters / factory settings (1011h) .........................................................................21
4.1.3 NMT startup (1F80h) ............................................................................................................................21
4.2 Manufacturer specific parameters ...........................................................................................................22
4.2.1 Baud rate (2100h).................................................................................................................................22
4.2.2 Node-ID (2101h)...................................................................................................................................22
4.2.3 Signal filter settings (2107h / 2108h / 2109h).......................................................................................23
4.3 Device profile specific parameters (CiA DS-410) ....................................................................................25
4.3.1 Resolution (6000h) ...............................................................................................................................26
4.3.2 Slope long (6010h / 6110h) / slope lateral (6020h / 6120h) .................................................................26
4.3.3 Slope long preset value (6012h / 6112h) / slope lateral preset value (6022h / 6122h)........................26
4.3.4 Slope long offset (6013h / 6113h) / slope lateral offset (6023h / 6123h)..............................................26
4.3.5 Slope long differential offset (6014h / 6114h) / slope lateral differential offset (6024h / 6124h) ..........27
4.3.6 Slope operating parameters scaling / inversion (6011h / 6021h / 6111h / 6121h) ...............................27
4.3.7 Device temperature (6511h).................................................................................................................28
5Sensor configurations .............................................................................................................................29
5.1.1 1-dimensional sensor / vertical installation / plumb angle 0…360° (1D-VP) ........................................29
5.1.2 2-dimensional sensor / horizontal installation / plumb angle ±90° (2D-HP) .........................................30
5.1.3 2-dimensional sensor / vertical installation / plumb angle ±90° (2D-VP) .............................................31
6Terminal assignment................................................................................................................................32
6.1 2 x M12 flange connector, 5-pin ..............................................................................................................32

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Disclaimer of liability
The present manual was compiled with utmost care, errors and omissions reserved. For this reason, Baumer
rejects any liability for the information compiled in the present manual.
Neither Baumer nor the author will accept any liability for direct or indirect damages resulting from the use of
the present information.
At any time we should be pleased receiving your comments and proposals for further improvement of the
present manual.
Created by:
Baumer IVO GmbH & Co. KG
1 Introduction
1.1 Scope of delivery
Please check the delivery upon completeness prior to commissioning.
Depending on sensor configuration and part number, delivery is including:
Sensor
Mounting instruction
Further information is available as download via www.baumer.com
Manual (sensor interface description)
EDS file (electronic data sheet)
1.2 Product assignment
Product /
Device
name
Product
code
Measuring
direction
Variant
EDS file
GIM700DR
60h
1-dimensional
(1D, vertical in-
stallation)
1D-VP
GIM700DR_1-dim_PDO_SPEC_V1_00.eds
GIM700DR
61h
2-dimensional
(2D, horizontal
installation)
2D-HP
GIM700DR_2-dim_PDO_SPEC_V1_00.eds
GIM700DR
61h
2-dimensional
(2D, vertical in-
stallation)
2D-VP
GIM700DR_2-dim_PDO_SPEC_V1_00.eds

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2 Safety and operating instructions
Intended use
The inclination sensor is a precision measuring device to determine angular positions and to supply the
downstream device with measured values in the form of electronic output signals. The inclination sensor
must not be used for any other purpose.
Make sure the appropriate safety measures are present to prevent damage to persons, the system or op-
erating facilities in case of sensor error or failure.
Personnel qualification
The inclination sensor must only be installed by a qualified electronics and precision mechanics.
Observe the user manual of the machine manufacturer.
Maintenance
The inclination sensor is maintenance-free and must not be opened or modified in its electronics or me-
chanical design. Opening the sensor can lead to personal injury.
Disposal
The inclination sensor contains electronic components. At its disposal, local environmental guidelines
must be followed.
Installation
Avoid mechanical impacts or shocks on the housing.
Electrical commissioning
Do not perform any electrical modifications at the inclination sensor.
Do not carry out any wiring work when the inclination sensor is live.
Do not dock or undock the electrical connection while the inclination sensor is live.
Ensure that the entire equipment is installed in line with EMC requirements. Ambient conditions and wir-
ing affect the electromagnetic compatibility of the inclination sensor. Install sensor and supply cables
separately or far away from lines with high interference emissions (frequency converters, contactors,
etc.).
Provide separate power supply for the inclination sensor where working with consumers that have high
interference emissions.
Completely shield the inclination sensor housing and connecting cables.
Connect the sensor to protective earth (PE) using shielded cables. The braided shield must be con-
nected to the cable gland or connector. Ideally, aim at a bilateral connection to protective earth (PE), the
housing via the mechanical assembly and the cable shield via the downstream devices. In case of earth
loop problems, earth on one side only as a minimum requirement.
Supplementary information
This manual is intended as a supplement to already existing documentation (i.e. catalogue, product infor-
mation and mounting instruction).

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3 CAN-bus and CANopen communication
CAN bus (CAN: Controller Area Network) was developed by Bosch and Intel for high-speed, economic data
transmission in automotive applications. Today, CAN bus is commercialized for use in industrial automation.
CAN bus is a fieldbus system (standards administered by CAN in Automation, CiA) for communication be-
tween appliances, actors and sensors of different brands.
3.1 CAN-bus characteristics
• Data rate of 1 Mbit/s with network expansion up to 40 m
• Network connected on both sides
• The bus medium is a twisted-pair cable
• Real time capability: Defined maximum waiting time for high-priority messages.
• Theoretically 127 users at one bus (depending on the driver).
• Ensures data consistency across the network. Damaged messages are notified as faulty for all network
nodes.
• Message-oriented communication
The message is identified by a message identifier. All network nodes use the identifier to test whether the
message is of relevance for them.
• Broadcasting, multicasting
All network nodes receive each message simultaneously. Synchronization is therefore possible.
• Multi-Consumer capability
Each user in the field bus is able to independently transmit and receive data without being dependent upon
the priority of the Consumer. Each user is able to start its message when the bus is not occupied. When
messages are sent simultaneously, the user with the highest priority prevails.
• Prioritization of messages
The identifier defines the priority of the message. This ensures that important messages are transmitted
quickly via the bus.
• Residual error probability
Safety procedures in the network reduce the probability of an undiscovered faulty data transmission to be-
low 10 -11. In practical terms, it is possible to ensure a 100% reliable transmission.
• Function monitoring
Localization of faulty / failed stations: The CAN protocol encompasses a network node monitoring function.
The function of network nodes which are faulty is restricted, or they are completely uncoupled from the net-
work.
• Data transmission with short error recovery time
By using several error detection mechanisms, falsified messages are detected to a high degree of probabil-
ity. If an error is detected, the message transmission is automatically repeated.
In the CAN Bus, several network users are connected by means of a bus cable. Each network user is able to
transmit and receive messages. The data between network users is serially transmitted.
Examples of network users for CAN bus devices are:
• Automation devices such as PLCs
• PCs
• Input and output modules
• Drive control systems
• Analysis devices, such as a CAN monitor
• Control and input devices as Human Machine Interfaces (HMI)
• Sensors and actuators

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3.2 CANopen
Under the technical management of the Steinbeis Transfer Centre for Automation, the CANopen profile was
developed on the basis of the Layer 7 specification CAL (CAN Application Layer). In comparison with CAL,
CANopen only contains the functions suitable for this application. CANopen thus represents only a partial
function of CAL optimized for the application in hand, so permitting a simplified system structure and the use
of simplified devices. CANopen is optimized for fast data exchange in real time systems.
The organization CAN in Automation (CiA) is responsible for the applicable standards of the relevant profiles.
CANopen permits:
•Simplified access to all device and communication parameters
•Synchronization of several devices
•Automatic configuration of the network
•Cyclical and event-controlled process data communication
CANopen comprises four communication objects (COB) with different characteristics:
•Process data objects for real time data (PDO)
•Service data objects for parameter and program transmission (SDO)
•Network management (NMT, Heartbeat)
•Pre-defined objects (for synchronization, emergency message)
All device and communication parameters are subdivided into an object directory. An object directory encom-
passes the name of the object, data type, number of sub-indexes, structure of the parameters and the ad-
dress. According to CiA, this object directory is subdivided into three different parts. Communication profile,
device profile and a manufacturer-specific profile (see object directory).
3.3 CANopen communication
3.3.1 Communication profile
Communication between the network users and the Consumer (PC / Control) takes place by means of object
directories and objects. The objects are addressed via a 16-bit index. The CANopen communication profile
DS 301 standardizes the various communication objects. They are accordingly divided into several groups:
•Process data objects PDO for real time transmission of process data
•Service data objects SDO for read/write access to the object directory
•Objects for synchronization and error display of CAN users:
SYNC object (synchronization object) for synchronization of network user
EMCY object (emergency object) for error display of a device or its peripherals
•Network management NMT for initialization and network control
•Layer Setting Services LSS for configuration by means of serial numbers, revision numbers
etc. in the middle of an existing network
3.3.2 CANopen message structure
The first part of a message is the COB-ID (identifier).
Structure of the 11-bit COB-ID:
Function code
Node-ID
4-bit function code
7-bit Node-ID

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The function code provides information on the type of message and priority
The lower the COB-ID, the higher the priority of the message
Broadcast messages:
Function code
COB-ID
NMT
0h
SYNC
80h
Peer-to-peer messages:
Function code
COB-ID
Emergency
80h + Node-ID
PDO1 (tx)1)
180h + Node-ID
PDO2 (tx)1)
280h + Node-ID
SDO (tx)1)
580h + Node-ID
SDO (rx)1)
600h + Node-ID
Heartbeat
700h + Node-ID
LSS (tx)1)
7E4h
LSS (rx)1)
7E5h
1): (tx) and (rx) from the viewpoint of the sensor
The Node-ID can be freely selected by means of the CANopen bus between 1 and 127.
The sensors are supplied with the Node-ID 1 and baud rate 50 kbits/s.
This can be changed with the service data object 2101h or object 2100h or using LSS.
A CAN telegram is made up of the COB-ID and up to 8 bytes of data:
COB-ID
DLC
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
xxx
x
xx
xx
xx
xx
xx
xx
xx
xx
The precise telegram is outlined in more detail at a later point.

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3.3.3 CANopen service data communication (SDO)
The service data objects correspond to the standards of the CiA. It is possible to access an object via index
and sub-index. The data can be requested or where applicable written into the object.
General information on the SDO
Structure of an SDO telegram:
COB-ID
DLC
Command
Object
LSB
Object
MSB
Sub-index
Data 0
Data 1
Data 2
Data 3
An SDO-COB-ID is composed as follows:
Consumer -> Sensor : 600h + Node-ID
Sensor -> Consumer : 580h + Node-ID
DLC (data length code) describes the length of the telegram. This is composed as follows:
1 byte command + 2 bytes object + 1 byte sub-index + no. of data bytes (0…4).
The command byte defines whether data is read or set, and how many data bytes are involved.
SDO command
Description
Data length
22h
Download request
Max. 4 Byte
Transmits parameter to sensor
23h
Download request
4 byte
2Bh
Download request
2 byte
2Fh
Download request
1 byte
60h
Download response
-
Confirms receipt to Consumer
40h
Upload request
-
Requests parameter from sensor
42h
Upload response
Max. 4 byte
Parameter to Consumer with max. 4 byte
43h
Upload response
4 byte
4Bh
Upload response
2 byte
4Fh
Upload response
1 byte
80h
Abort message
-
Sensor transmits Error Code to Consumer
An abort message indicates an error in the CAN communication. The SDO command byte is 80h. The ob-
ject and sub-index are those of the requested object. The error code is contained in bytes 5…8.
Identifier
DLC
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
580h
+ Node-ID
8
80h
Object
LSB
Object
MSB
Sub-index
ErrByte 0
ErrByte 1
ErrByte 2
ErrByte 3
Byte 7...4 results in the SDO abort message (byte 7 = MSB).
The following messages are supported:
05040001h : Command byte is not supported
06010000h : Incorrect access to an object
06010001h : Read access to write only

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06010002h : Write access to read only
06020000h : Object is not supported
06090011h : Sub-index is not supported
06090030h : Value outside the limit
06090031h : Value too great
08000000h : General error
08000020h : Incorrect save signature
08000021h : Data cannot be stored
SDO examples
Request of the resolution value by the Consumer from the Producer
A frequent request will be a request for the resolution. Object 6000h
COB-ID
DLC
Command
Object LSB
Object MSB
Sub-index
Data 0
Data 1
Data 2
Data 3
600h+Node-ID
8
40h
00h
60h
0
x
x
x
x
Response by the Producer to the request for a value
The resolution is 2 bytes long, the precise values can be found under object 6000h.
COB-ID
DLC
Command
Object LSB
Object MSB
Sub-index
Data 0
Data 1
Data 2
Data 3
580h+Node-ID
8
4Bh
00h
60h
0
a
b
c
d
Writing of a value by the Consumer into the Producer
Inclination setting can be performed with preset for longitudinal slope. Object 6012h
COB-ID
DLC
Command
Object LSB
Object MSB
Sub-index
Data 0
Data 1
Data 2
Data 3
600h+Node-ID
8
2Bh
12h
60h
0
a
b
c
d
Producer's response to the writing of a value
COB-ID
DLC
Command
Object LSB
Object MSB
Sub-index
Data 0
Data 1
Data 2
Data 3
580h+Node-ID
8
60h
12h
60h
0
0
0
0
0
3.3.4 Process data communication
Process data objects are used for real time data exchange for process data, for example inclination or oper-
ating status. PDOs can be transmitted synchronously or cyclically (asynchronously).
Synchronous communication
In order to transmit the process data synchronously, a value between 1 and F0h (=240) must be written into
the object 180xh sub-index 2. If the value is 3, the PDO is transmitted on every third sync telegram (if the
value 1 is entered, transmission takes place on every sync telegram).
In synchronous operation, the PDO is requested by the Consumer via the Sync telegram.
Identifier
Byte 1
COB-ID = 80h
0

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Cyclical (asynchronous) communication
If you wish the PDOs to be transmitted cyclically, the value FEh must be written into the object 180xh sub-
index 2. In addition, the cycle time in milliseconds must be entered in the same object sub-index 5. The en-
tered time is rounded off to 1 msec. If the value is stored for 0 msec, the PDOs are not transmitted. The func-
tion is switched off.
PDO transmission modes / PDO mapping
In the following table, the different transmission modes for PDOs are summarized:
180xh
Summarized description
Sub2
Sub5
FEh/FFh
10 msec
Cyclical transmission every 10 msec
FEh/FFh
0 msec
Transmit PDO switched off
3
xxx
Transmit with every third sync telegram
Structure of PDO-mapping is based on dynamic PDO mapping. Default PDO configuration is shown below:
Variant
ID
DLC
Byte 0+1
Byte 2+3
Byte 4+5
Byte 6+7
1D vertical in-
stallation (1D-
VP)
180h+Node-
ID
4
Object 6511h / Device
temperature
LSB MSB
Object 6010h / Z-
axis
LSB MSB
-
-
Variant
ID
DLC
Byte 0+1
Byte 2+3
Byte 4+5
Byte 6+7
2D horizontal
installation
(2D-HP)
180h+Node-
ID
6
Object 6511h / Device
temperature
LSB MSB
Object 6010h / X-
axis
LSB MSB
Object 6020h
Y-axis
LSB MSB
-
2D vertical in-
stallation (2D-
VP)
180h+Node-
ID
6
Object 6511h / Device
temperature
LSB MSB
Object 6010h / Z-
axis
LSB MSB
Object 6020h
Y-axis
LSB MSB
-
3.3.5 Error diagnostics / emergency service
The GIM700DR sensor offers diagnostic functions as described in the following. If device operation causes a
warning (e.g. angle limit) or an error (e.g. MEMS saturation), an emergency message is transmitted once,
which contains Error Code, Error Register, Error Module ID and Error ID. The EMCY message is struc-
tured as follows:
COB-ID
DLC
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
80h+Node-ID
8
Error Code
LSB MSB
Error
Register
Error Module ID
MSB LSB
Error ID
MSB LSB
reserved
Byte 0+1: Error code
Error Code (hex)
Description
0000
Error reset or no error
1000
Generic error
3200
Supply voltage error
6000
Internal software or sensor error

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Byte 2 Error register
Represents the content of object 1001h Error Register
Bit
Description
0
Generic error
2
Supply voltage error
Byte 3+4: Error module ID / Byte 5+6: Error ID
Error Module ID
Error ID
Description
17h
1012h
Angle limit warning.
Please check, if angle measurement value in sensor application is near or above
specified limit
15h
100Dh
100Fh
1010h
Sensor fusion error.
Please check, if acceleration and/or gyroscope rotation rate in sensor application
is near or above specified limit
18h
1001h
1004h
Overvoltage voltage error.
Please check, if supply voltage in sensor application is near or above specified
limit
18h
1005h
1008h
Under voltage error.
Please check, if supply voltage in sensor application is near or below specified
limit
1Dh
100Eh
1011h
MEMS saturation error.
Please check, if acceleration and/or gyroscope rotation rate in sensor application
is near or above specified limit
The warning and/or error with a specific Error ID should be considered as active, until the sensor is sending
Error Code 0000h for the corresponding Error ID.
Example for EMCY messages
COB-ID
[hex]
Error
Code
LSB
[hex]
Error
Code
MSB
[hex]
Error
Register
[hex]
Error
Module
ID MSB
[hex]
Error
Module
ID LSB
[hex]
Error ID
MSB
[hex]
Error ID
LSB
[hex]
Re-
served
[hex]
Description
80
+Node-ID
00
10
01
00
17
10
12
00
Angle limit warning /
generic error set
80
+Node-ID
00
00
00
00
17
00
00
00
Angle limit warning /
generic error reset
80
+Node-ID
00
10
01
00
1D
10
11
00
MEMS saturation er-
ror set
80
+Node-ID
00
00
00
00
1D
00
00
00
MEMS saturation er-
ror reset
3.3.6 Network management services
Network management can be divided into two groups.
Using the NMT services for device monitoring, bus users can be initialized, started and stopped.
In addition, NMT services exist for connection monitoring.

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Description of the NMT command
The commands are transmitted as unconfirmed objects and are structured as follows:
Identifier
Byte 0
Byte 1
COB-ID = 0
Command byte
Node-ID
The COB-ID for NMT commands is always zero. The Node-ID is transmitted in byte 1 of the NMT command.
Command byte
Command byte
Description
In state event drawing
01h
Start remote node
1
02h
Stop remote node
2
80h
Enter pre-operational state
3
81h, 82h
Reset remote node
4, 5
The node number corresponds to the Node-ID of the required users. With node number = 0, all users are
addressed.
NMT state event
Following initialization, the sensor is in the pre-operational state. In this status, SDO parameters can be read
and written. In order to request PDO parameters, the sensor must first be moved to the operational state.
Power on or hardware reset
The various NMT states
Init
Following initialization, the sensor logs on to the CAN bus with a Boot Up message. The sensor then goes
automatically to the pre-operational state.
Init
Pre-Operational
Operational
Stopped/Prepared
Power on oder Hardware Reset
1
3
2
1
3
2
4/5
BootUp Message
4/5
4/5

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The COB-ID of the Boot Up message is made up of 700h and the Node-ID.
COB-ID
Byte 0
700h + Node-ID
00
Pre-operational state
In the pre-operational state, SDOs can be read and written.
Operational state
In the operational state, the sensor transmits the requested PDOs. In addition, SDOs can be read and writ-
ten.
Stopped or prepared state
In the stopped state, only NMT communication is possible. No SDO parameters can be read or set. LSS is
only possible in the stopped state.
Status change
Start remote node (1)
With the start command, the sensor is switched to the operational state.
COB-ID
Command byte
Node-ID
0
1h
0…127
Stop remote node (2)
With the stop command, the sensor is switched to the stopped state.
COB-ID
Command byte
Node-ID
0
2h
0…127
Enter pre-operational state (3)
Change to the pre-operational state.
COB-ID
Command byte
Node-ID
0
80h
0…127
Reset remote node (4) or reset communication (5)
With the reset command, the sensor is re-initialized.
Reset remote node (4):
COB-ID
Command byte
Node-ID
0
81h
0…127
Reset communication (5):
COB-ID
Command byte
Node-ID
0
82h
0…127

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3.3.6.1 Heartbeat protocol
A Heartbeat Producer transmits the
Heartbeat message cyclically with the
frequency defined in Heartbeat producer
time object. One or more Heartbeat Con-
sumer may receive the indication. The re-
lationship between producer and con-
sumer is configurable via Object Diction-
ary entries. The Heartbeat Consumer
guards the reception of the Heartbeat
within the Heartbeat consumer time. If
the Heartbeat is not received within this
time a Heartbeat Event will be generated.
Example for a heartbeat protocol
COB-ID
Data/Remote
Byte 0
701h
d
7Fh (127d)
The heartbeat messages consist of the COB-ID and one byte. In this byte, the NMT status is supplied.
0: Boot Up-Event
4: Stopped
5: Operational
127: Pre-operational
In other words, the sensor is in the pre-operational state (7Fh = 127).
3.3.6.2 Layer Setting Services
In 2000, CiA drafted a new protocol intended to ensure standardized occurrence. The procedure is described
under Layer Setting Services and Protocol, CiA Draft Standard Proposal 305 (LSS).
The sensor is supplied as standard with node-ID 1 and baud rate 50 kbits/s. Several sensors can be con-
nected to the bus system with the same node-ID. To allow individual sensors to be addressed, LSS is used.
Each sensor is fitted with its own unique serial number and is addressed using this number. In other words,
an optional number of sensors with the same node-ID can be connected to one bus system, and then initial-
ized via LSS. Both the Node-ID and also the baud rate can be reset. LSS can only be executed in the
Stopped state.
Message structure
COB-ID:
Consumer Producer : 2021 = 7E5h
Consumer Producer : 2020 = 7E4h
After the COB-ID, an LSS command specifier is transmitted.
This is followed by up to seven attached data bytes.

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COB-ID
cs
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Switch state global
7E5h 
04h
State
reserved
State : 0 Operational state
: 1 Configuration state
Switch state selective
The following procedure can be used to address a certain sensor in the bus system.
7E5h 
40h
Vendor ID
reserved
7E5h 
41h
Product code
reserved
7E5h 
42h
Revision number
reserved
7E5h 
43h
Serial number
reserved
7E4h 
44h
State
reserved
Vendor ID : ECh
Product code : Internal product code for the respective sensor
Revision number : Current revision number of the sensor
Serial number : Unique, consecutive serial number
State : The sensor's response is the new state (0=operating state; 1=configuration state)
Setting node-ID
7E5h 
11h
Node-ID
reserved
7E4h 
11h
ErrCode
Spec error
reserved
Node-ID : The sensor's new Node-ID
Error code : 0=OK; 1=Node-ID outside range; 2...254=reserved; 255Specific error
Specific error : If Error code=255 application-specific error code.
Setting bit timing
7E5h 
13h
Ta-
bleSel
TableInd
reserved
7E4h 
13h
ErrCode
SpecError
reserved
TableSel : Selects the bit timing table 0 : Standard CiA bit timing table
TableInd : Bit timing entry in selected table (see table below).
Error code : 0=OK; 1=Bit timing outside range; 2...254=reserved; 255Specific error
Specific error : If Error code=255 Application-specific error code.

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Value
Setting via LSS (Standard CiA bit timing table)
Setting baud rate via object 2100h
0
1000 kbits/s
10 kbits/s (not supported)
1
800 kbits/s
20 kbits/s
2
500 kbits/s
50 kbits/s
3
250 kbits/s
100 kbits/s
4
125 kbits/s
125 kbits/s
5
100 kbits/s
250 kbits/s
6
50 kbits/s
500 kbits/s
7
20 kbits/s
800 kbits/s
8
10 kbits/s (not supported)
1000 kbits/s
9
Automatic bit rate detection (not supported)
Automatic bit rate detection (not supported)
Note:
For setting bit timing via LSS, use values according to standard CiA bit timing table.
New baud rate has to be saved to non-volatile memory by using object 1010h.
New baud rate will take effect after restart of the device. Baud rate 10 kbits/s is not supported.
Saving configuration protocol
This protocol saves the configuration parameters in the EEPROM.
7E5h 
17h
reserved
7E4h 
17h
ErrCode
SpecError
reserved
Error code : 0=OK; 1=Saving not supported; 2=Access error; 3…254=reserved; 255Specific error
Specific error : If error code=255 Application-specific error code.
Activate bit timing parameters
The new bit timing parameters are activated with the command specifier 15h.
7E5h 
15h
Switch delay
reserved
Switch Delay : Reset delay in the producer in msec.
After the delay, the sensor logs on with the new baud rate.
Request vendor ID
Requesting the vendor ID of a selected sensor
7E5h 
5Ah
reserved
7E4h 
5Ah
32-bit vendor ID
reserved
Vendor ID : = ECh
Request product code
Request product code of a selected sensor
7E5h 
5Bh
reserved

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7E4h 
5Bh
Product code
reserved
Product code : Manufacturer-dependent product code
Request revision number
Request revision number of a selected sensor
7E5h 
5Ch
reserved
7E4h 
5Ch
32-bit revision number
reserved
Revision number : Current revision
Request serial number
Request serial number of a selected sensor
7E5h 
5Dh
reserved
7E4h 
5Dh
32-bit serial number
reserved
Serial number : Unique consecutive serial number of the sensor

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4 Object dictionary
According to CiA (CAN in Automation) the objects are subdivided into three groups:
Standard communication objects:
1000h –1FFFh
Manufacturer-specific objects:
2000h - 5FFFh
Device-specific objects:
6000h - FFFFh
The table below is giving a summary of all SDO objects supported by the inclination sensor.
Object Object number in Hex
Name Name of parameter
Format Data type
Access ro = read-only, wo = write only, rw = read/write
Default Default value, upon first init or after restore to default value
Save yes saved in non-volatile memory / can be restored to default values
4.1 Communication parameters (CiA DS-301, CiA DS-302 Part 2)
Object
Sub-index
Name
Format
Access
Default
Save
1000h
Device type
U32
ro
102019Ah
1001h
Error register
U8
ro
0h
1002h
Manufacturer status register
U32
ro
0h
1003h
Pre-defined error field
00h
Number of errors
U8
rw
0h
yes
01h
Newest error entry
U32
ro
...
…
...
…
…
10h
Oldest error entry
U32
ro
1005h
COB-ID SYNC message
U32
rw
80h
yes
1008h
Device name
VSTR
ro
GIM700DR
1009h
Hardware version
VSTR
ro
1.00 or higher
100Ah
Software version
VSTR
ro
1.00 or higher
1010h
Save parameters
00h
Highest sub-index supported
U8
ro
4h
01h
Save all parameters
U32
rw
02h
Save communication parame-
ters
U32
rw
03h
Save application parameters
U32
rw
04h
Save manufacturer parame-
ters
U32
rw
1011h
Restore default parameters
00h
Highest sub-index supported
U8
ro
4h
01h
Restore all default parameters
U32
rw
02h
Restore default communica-
tion parameters
U32
rw
03h
Restore default application
parameters
U32
rw

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Object
Sub-index
Name
Format
Access
Default
Save
04h
Restore default manufacturer
parameters
U32
rw
For device profile specific parameters (CiA DS-
410) marked with Save yes
1014h
Emergency COB-ID
U32
rw
80h + Node-ID
yes
1016h
Consumer heartbeat time
yes
00h
Highest sub-index supported
U8
ro
1h
01h
Consumer heartbeat time
U32
rw
0h
yes
1017h
Producer heartbeat time
U16
rw
0h
yes
1018h
Identity object
00h
Highest sub-index supported
U8
ro
4h
01h
Vendor-ID
U32
ro
ECh
02h
Product code
U32
ro
1D: 60h
2D: 61h
03h
Revision number
U32
ro
04040001h or higher
yes
04h
Serial number
U32
ro
Factory-defined
yes
1800h
TX PDO1 communication
Transmit PDO1 communication parameters
00h
Highest sub-index supported
U8
ro
5h
01h
COB-ID
U32
rw
$NODEID+40000180h
yes
02h
PDO transmission type
U8
rw
FFh
yes
05h
Event time
U16
rw
C8h
yes
1801h
TX PDO2 communication
Transmit PDO2 communication parameters
00h
Highest sub-index supported
U8
ro
5h
01h
COB-ID
U32
rw
$NODEID+40000280h
yes
02h
PDO transmission type
U8
rw
FFh
yes
05h
EventTimer
U16
rw
0h
yes
1802h
TX PDO3 communication
Transmit PDO3 communication parameters
00h
Highest sub-index supported
U8
ro
5h
01h
COB-ID
U32
rw
$NODEID+40000380h
yes
02h
PDO transmission type
U8
rw
FFh
yes
05h
Event time
U16
rw
0h
yes
1803h
TX PDO4 communication
Transmit PDO4 communication parameters
00h
Highest sub-index supported
U8
ro
5h
01h
COB-ID
U32
rw
$NODEID+40000480h
yes
02h
PDO transmission type
U8
rw
FFh
yes
05h
Event time
U16
rw
0h
yes
1A00h
TX PDO1 mapping
Transmit PDO1 mapping parameters
00h
Highest sub-index supported
U8
rw
1D: 2h (1-dim slope sensor)
2D: 3h (2-dim slope sensor, horizontal & vertical
installation)
yes
01h
Mapping entry 1
U32
rw
1D: 65110010h (device temperature)
2D: 65110010h (device temperature)
yes
02h
Mapping entry 2
U32
rw
1D-VP: 60100010h (Slope long 16-bit, Z-axis,
plumb angle, 0…360°)
2D-HP: 60100010h (Slope long 16-bit, X-axis,
horizontal installation, plumb angle, ±90°)
2D-VP: 60100010h (Slope long 16-bit, Z-axis,
vertical installation, plumb angle, ±90°)
yes

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Object
Sub-index
Name
Format
Access
Default
Save
03h
Mapping entry 3
U32
rw
1D-VP: 0h
2D-HP: 60200010h (Slope lateral 16-bit, Y-axis,
horizontal installation, plumb angle, ±90°)
2D-VP: 60200010h (Slope lateral 16-bit, Y-axis,
vertical installation, plumb angle, ±90°)
yes
04h
Mapping entry 4
U32
rw
0
yes
1A01h
TX PDO2 mapping
Transmit PDO2 mapping parameters
00h
Highest sub-index supported
U8
rw
1D: 0h
2D: 0h
yes
01h
Mapping entry 1
U32
rw
1D: 0h
2D: 0h
yes
02h
Mapping entry 2
U32
rw
1D: 0h
2D: 0h
yes
03h
Mapping entry 3
U32
rw
1D: 0h
2D: 0h
yes
04h
Mapping entry 4
U32
rw
1D: 0h
2D: 0h
yes
1A02h
TX PDO3 mapping
Transmit PDO3 mapping parameters
00h
Highest sub-index supported
U8
rw
1D: 0h
2D: 0h
yes
01h
Mapping entry 1
U32
rw
1D: 0h
2D: 0h
yes
02h
Mapping entry 2
U32
rw
1D: 0h
2D: 0h
yes
03h
Mapping entry 3
U32
rw
1D: 0h
2D: 0h
yes
04h
Mapping entry 4
U32
rw
1D: 0h
2D: 0h
yes
1A03h
TX PDO4 mapping
Transmit PDO4 mapping parameters
00h
Highest sub-index supported
U8
rw
1D: 0h
2D: 0h
yes
01h
Mapping entry 1
U32
rw
1D: 0h
2D: 0h
yes
02h
Mapping entry 2
U32
rw
1D: 0h
2D: 0h
yes
03h
Mapping entry 3
U32
rw
1D: 0h
2D: 0h
yes
04h
Mapping entry 4
U32
rw
1D: 0h
2D: 0h
yes
1F80h
NMT startup
U32
rw
0h
yes